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Towards future intelligent vehicular network, the machine learning as the promising artificial intelligence tool is widely researched to intelligentize communication and networking functions. In this paper, we provide a comprehensive survey on various machine learning techniques applied to both communication and network parts in vehicular network. To benefit reading, we first give a preliminary on communication technologies and machine learning technologies in vehicular network. Then, we detailedly describe the challenges of conventional techniques in vehicular network and corresponding machine learning based solutions. Finally, we present several open issues and emphasize potential directions that are worthy of research for the future intelligent vehicular network.